Planning device, demolition system, planning method and program

Abstract

To provide a planning device for planning the decommissioning of a nuclear reactor. [Solution] The planning device includes: knowledge information in which a method for cutting a structure inside a nuclear reactor, the radioactivity level of the cut pieces obtained by cutting the structure, and a method for packing the cut pieces into a container to store the cut pieces; means for creating a cutting plan that specifies the method for cutting the structure inside the nuclear reactor to be dismantled based on the knowledge information; and means for creating a packing plan that specifies the method for packing the cut pieces of the structure inside the nuclear reactor to be dismantled into a container according to the radioactivity level of the cut pieces, based on the knowledge information.

Description

Technical Field

[0001] The present disclosure relates to a planning device, a dismantling system, a planning method, and a program.

Background Art

[0002] When taking measures for decommissioning or abolishing a nuclear power plant, it is necessary to sequentially carry out the dismantling of equipment and buildings. In particular, reactors and in-vessel structures with a high radioactivity level require dismantling work in water. In order to carry out the work safely and efficiently, it is necessary to make a reasonable work plan taking into account subsequent treatment and disposal.

[0003] Patent Document 1 discloses that by predicting the amount of waste discharged from precut materials used in building construction and waste discharged during building demolition, it is possible to generate a discharge schedule for bagging waste and transporting it from a factory to a treatment plant. However, in the case of a reactor, since it is necessary to perform treatment according to the radioactivity level of the structure to be dismantled, it cannot be treated like building waste materials.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] A method for efficiently planning the dismantling work of a reactor is required.

[0006] The present disclosure provides a planning device, a dismantling system, a planning method, and a program that can solve the above problems.

Means for Solving the Problems

[0007] The planning apparatus of this disclosure includes: knowledge information in which a method for cutting a structure inside a nuclear reactor, the radioactivity level of the cut pieces obtained by cutting the structure, and a method for packing the cut pieces into a container for storing the cut pieces; a cutting planning unit that creates a cutting plan specifying the cutting method for the structure inside the nuclear reactor to be dismantled based on the knowledge information; and a packing planning unit that creates a packing plan specifying the packing method for the cut pieces of the structure inside the nuclear reactor to be dismantled into a container according to the radioactivity level of the cut pieces, based on the knowledge information. The system includes a control unit that executes the cutting plan by controlling a cutting means for cutting the structure, and a simulation unit that executes the packing plan by controlling a packing means for storing and removing the cut pieces from a container, and a simulation unit that performs a packing simulation to simulate the operation of storing the cut pieces from the container, thereby calculating a packing plan such that at least one of the weight, temperature, and radioactivity level of the container satisfies predetermined packing conditions. If, as a result of the control unit executing the packing plan created by the packing planning unit, the container does not satisfy the predetermined packing conditions, the control unit removes the cut pieces stored in the container by controlling the packing means, the simulation unit calculates a packing plan that satisfies the packing conditions by performing the packing simulation on the removed cut pieces, and the control unit stores the cut pieces in the container by controlling the packing means based on the packing plan calculated by the packing simulation. The planning device of this disclosure includes: knowledge information in which a method for cutting a structure inside a nuclear reactor, the radioactivity level of the cut pieces obtained by cutting the structure, and a method for packing the cut pieces into a container for storing the cut pieces are registered; a cutting planning unit that creates a cutting plan defining the cutting method for the structure inside the nuclear reactor to be dismantled based on the knowledge information; a packing planning unit that creates a packing plan defining the packing method for the cut pieces of the structure inside the nuclear reactor to be dismantled into a container according to the radioactivity level of the cut pieces, based on the knowledge information; a simulation unit having a function to calculate the cutting plan such that at least one of the temperature, radioactivity level, weight, and size of the cut pieces satisfies predetermined cutting conditions by performing a cutting simulation that simulates the work of cutting the structure inside the nuclear reactor related to the 3D model using a 3D model of the nuclear reactor; and a function to calculate the packing plan such that at least one of the weight, temperature, and radioactivity level of the container satisfies predetermined packing conditions by performing a packing simulation that simulates the work of storing the cut pieces into the container; and controlling the cutting means to perform the cutting plan. The cutting plan unit has a control unit that executes and controls the packing means to execute the packing plan, and when the execution of the cutting plan and the packing plan is completed, the cutting plan unit refers to the knowledge information to determine whether the cutting method for a reactor similar to the reactor to be dismantled is registered, and if it is determined that it is registered, it creates the cutting plan based on the knowledge information, and if it is determined that it is not registered, it instructs the simulation unit to perform the cutting simulation, and the simulation unit calculates the cutting plan by performing the cutting simulation, and when the execution of the cutting plan and the packing plan is completed, the control unit registers the executed cutting plan and the packing plan in the knowledge information.

[0008] The dismantling system of this disclosure is a dismantling system for dismantling a structure inside a nuclear reactor, comprising: a planning device; cutting means for cutting the structure based on the cutting plan created by the planning device; and packing means for storing the cut pieces in a container based on the packing plan created by the planning device. Measuring means for measuring the temperature, radioactivity level, weight, and size of the cut object, and measuring means for measuring the weight, temperature, and radioactivity level of the container, It has.

[0009] The planning method of this disclosure is a computer-based planning method comprising: creating a cutting plan that defines the cutting method of a structure inside a reactor to be dismantled, based on registered knowledge information, the radioactivity levels of the cut pieces obtained by cutting the structure, and the packing method for the cut pieces into a container to be stored; and creating a packing plan that defines the packing method for the cut pieces of the structure inside the reactor to be dismantled into a container according to the radioactivity levels of the cut pieces, based on the knowledge information. The method includes the steps of: executing the cutting plan by controlling a cutting means for cutting the structure; executing the packing plan by controlling a packing means for storing and removing the cut pieces from the container; if, as a result of executing the packing plan, the container does not meet predetermined packing conditions in at least one of the weight, temperature, and radioactivity level, the method is to remove the cut pieces stored in the container by controlling the packing means; calculating the packing plan that satisfies the packing conditions by performing a packing simulation that simulates the process of storing the removed cut pieces in the container; and storing the cut pieces in the container by executing the packing plan calculated by the packing simulation. The planning method of this disclosure is a computer-based planning method that refers to registered knowledge information containing a method for cutting a structure inside a reactor, the radioactivity level of the cut material obtained by cutting the structure, and a method for packing the cut material into a container to store the cut material, to determine whether the cutting method for a reactor similar to the reactor to be dismantled is registered; if it is determined that it is registered, it creates a cutting plan that defines the cutting method for the structure inside the reactor to be dismantled based on the knowledge information; if it is determined that it is not registered, it calculates the cutting plan such that at least one of the temperature, radioactivity level, weight, and size of the cut material satisfies predetermined cutting conditions by performing a cutting simulation that simulates the cutting of the structure inside the reactor related to the 3D model of the reactor; and executes the cutting plan by controlling the cutting means. The process includes: a step of determining, by referring to the knowledge information, whether the packing method for a reactor similar to the reactor to be dismantled is registered; if it is determined to be registered, creating a packing plan based on the knowledge information that specifies the packing method for the cut pieces of the structure inside the reactor to be dismantled into the container according to the radioactivity level of the cut pieces; if it is determined to be not registered, calculating the packing plan such that at least one of the weight, temperature, and radioactivity level of the container satisfies predetermined packing conditions by performing a packing simulation that simulates the operation of storing the cut pieces created in the step of executing the cutting plan into the container; a step of executing the packing plan by controlling the packing means; and a step of registering the executed cutting plan and packing plan in the knowledge information once the execution of the cutting plan and packing plan is complete.

[0010] Furthermore, the program of this disclosure includes the steps of creating a cutting plan that defines the cutting method for a structure inside a reactor to be dismantled, based on knowledge information registered in the computer, which includes a method for cutting a structure inside a reactor, the radioactivity level of the cut pieces obtained by cutting the structure, and a method for packing the cut pieces into a container to store the cut pieces; and creating a packing plan that defines the packing method for the cut pieces of the structure inside the reactor to be dismantled into a container according to the radioactivity level of the cut pieces, based on the knowledge information. The system is configured to perform the following steps: execute the cutting plan by controlling a cutting means for cutting the structure, execute the packing plan by controlling a packing means for storing and retrieving the cut pieces from the container, if, as a result of executing the packing plan, the container does not meet predetermined packing conditions in at least one of the weight, temperature, and radioactivity level, then remove the cut pieces stored in the container by controlling the packing means, calculate a packing plan that satisfies the packing conditions by performing a packing simulation that simulates the process of storing the removed cut pieces in the container, and store the cut pieces in the container by executing the packing plan calculated by the packing simulation. The program of this disclosure refers to knowledge information registered in a computer, which includes a method for cutting a structure inside a nuclear reactor, the radioactivity level of the cut material obtained by cutting the structure, and a method for packing the cut material into a container, to determine whether the cutting method for a reactor similar to the reactor to be dismantled is registered. If it is determined that it is registered, it creates a cutting plan that defines the cutting method for the structure inside the reactor to be dismantled based on the knowledge information. If it is determined that it is not registered, it calculates the cutting plan such that at least one of the temperature, radioactivity level, weight, and size of the cut material satisfies predetermined cutting conditions by performing a cutting simulation that simulates the cutting of the structure inside the reactor related to the 3D model of the reactor. If it is determined that it is not registered, it executes the cutting plan by controlling the cutting means. The system performs the following steps: referencing ledge information to determine whether the packing method for a reactor similar to the reactor to be dismantled is registered; if it is registered, it creates a packing plan based on the knowledge information that specifies how to pack the cut pieces of the structure inside the reactor to be dismantled into the container according to the radioactivity level of the cut pieces; if it is determined that it is not registered, it performs a packing simulation that simulates the operation of storing the cut pieces created in the step of executing the cutting plan into the container, thereby calculating a packing plan such that at least one of the weight, temperature, and radioactivity level of the container satisfies predetermined packing conditions; executes the packing plan by controlling the packing means; and, once the execution of the cutting plan and the packing plan is complete, it registers the executed cutting plan and the packing plan in the knowledge information. [Effects of the Invention]

[0011] The planning apparatus, dismantling system, planning method, and program of this disclosure enable the efficient creation of plans for reactor dismantling operations (cutting, packaging). [Brief explanation of the drawing]

[0012] [Figure 1] This figure shows an example of a demolition system according to the present invention. [Figure 2] Block diagram showing an example of a control device according to this embodiment. [Figure 3] This figure shows an example of a knowledge database according to the embodiment. [Figure 4] This is a flowchart showing an example of the overall flow of the demolition work according to the embodiment. [Figure 5] This flowchart shows an example of a simulation of a cutting operation according to the embodiment. [Figure 6] This flowchart shows an example of a simulation of a packaging operation according to the embodiment. [Figure 7] This figure shows an example of the hardware configuration of the control device according to the embodiment. [Modes for carrying out the invention]

[0013] <Embodiment> Hereinafter, the reactor dismantling system of the present disclosure will be described with reference to the drawings. (Configuration) FIG. 1 is a diagram showing an example of a dismantling system according to an embodiment. The dismantling system 100 includes a cutting robot R1, a boxing robot R2, a box moving robot R3, a control device 10, a plurality of containers 5, sensors 6 to 7, a camera 8, and a terminal 9. The control device 10, the robots R1 to R3, the sensors 6 to 7, the camera 8, and the terminal 9 are connected by wired or wireless communication means. In addition, the dismantling system 100 may include a large monitoring monitor, a monitoring device installed at a remote location, and the like. The dismantling system 100 cuts the reactor 1 and boxes the cut objects 4 into the containers 5. The containers 5 in which the cut objects 4 are boxed are transported to a treatment facility or the like.

[0014] The reactor 1 is disposed in a reactor building pool 20 provided in a reactor building (not shown). In the reactor building pool 20, a space capable of storing cooling water is formed. This space is called a reactor cavity 21. When exchanging the fuel of the reactor 1 or dismantling the reactor 1, water is stored in the reactor cavity 21, and work is performed underwater. The reactor 1 includes a reactor vessel 2 and an in-vessel structure 3. The members and materials for constructing the in-vessel structure 3 are diverse, and measures are taken according to the object and the part.

[0015] The cutting robot R1 dismantles the reactor vessel 2 and the in-vessel structure 3 underwater. For example, the cutting robot R1 can move freely underwater and is a robot equipped with an arm having cutting means such as a plasma torch or a cutter at its tip. The operator uses the terminal 9 to give instructions such as movement and cutting to the cutting robot R1 by remote operation. The control device 10 receives this instruction signal and controls the cutting robot R1 based on the instruction signal. The cutting robot R1 executes the cutting operation according to the instruction of the control device 10. The cut object 4 cut by the cutting robot R1 is left in the reactor cavity 21.

[0016] The packing robot R2 picks up the cut pieces 4 left in the water and stores them in the container 5. For example, the packing robot R2 is a robot that can move freely in water and has an arm with a hand (gripper) attached to its tip. The operator uses the terminal 9 to give instructions such as moving the packing robot R2, grasping, and releasing the cut pieces 4 by remote control. The control device 10 receives the instruction signal, controls the packing robot R2, and causes the packing robot R2 to perform the packing operation.

[0017] At least one and at most four to five containers 5 are arranged in the reactor cavity 21. The container 5 is a cubic or rectangular box with a side length of about 1 to 2 m. The container 5 is classified according to the radioactivity level of the cut pieces 4 to be stored. That is, containers 5 corresponding to radioactivity levels 1 to 3 are prepared respectively. The cut pieces 4 obtained by cutting the in-vessel structure with the highest radioactivity level (the largest radiation dose) correspond to radioactivity level 1. The cut pieces 4 of the in-vessel structure with a medium radioactivity level correspond to radioactivity level 2. The cut pieces 4 with the lowest radioactivity level, such as metals lower than levels 1 and 2, correspond to radioactivity level 3. About 80% of the cut pieces 4 are classified into radioactivity level 3. The packing robot R2 stores the cut pieces 4 in the container 5 corresponding to the radioactivity level of the cut pieces 4.

[0018] The box-moving robot R3 retrieves the container 5 prepared in area 22 and places it inside the reactor cavity 21. When the container 5 is full of cut material 4, the box-moving robot R3 retrieves the container 5 from the reactor cavity 21 to area 22. The retrieved container 5 is transported away, processed as necessary, and buried underground. For example, the box-moving robot R3 is a robot that can move freely on land and has an arm equipped with a hand (gripper) at its tip. The operator uses terminal 9 to remotely instruct the box-moving robot R3 on movement, placement of container 5, etc. The control device 10 receives the instruction signals and controls the box-moving robot R3 to perform the placement and retrieval of container 5. The number and type of containers 5 placed in the water may be adjusted according to the cutting site. For example, in a work situation where a part with radioactivity level 3 is being cut, only the container 5 with radioactivity level 3 is placed in the reactor cavity 21, while in a work situation where cut material 4 with radioactivity levels 1 to 3 is generated, the containers 5 with radioactivity levels 1 to 3 may be placed in the reactor cavity 21.

[0019] The cutting robot R1, the boxing robot R2, and the box moving robot R3 may also have functions to measure the dimensions, radiation dose, temperature, weight, etc., of the object, and to take images, in addition to these functions. Alternatively, in addition to robots R1 to R3, there may be a robot that has functions to measure the dimensions, radiation dose, temperature, weight, etc., of the object, and to take images. Furthermore, a single robot may have all the functions, such as cutting, boxing, box placement, and removal. The dismantling system 100 may have multiple robots R1 to R3, or it may have one or more robots that have all the functions, such as cutting, boxing, and placement.

[0020] Sensor 6 is a general term for sensors that perform various measurements in the water of the reactor cavity 21. For example, Sensor 6 includes radiation sensors, water level sensors, and water temperature sensors. The measured values ​​from Sensor 6 are output to the control device 10.

[0021] Sensor 7 is a general term for various sensors that perform measurements inside the reactor building (not shown). For example, Sensor 7 includes radiation sensors, temperature sensors, etc. The measured values ​​from Sensor 7 are output to the control device 10.

[0022] Camera 8 photographs the underwater environment of the reactor cavity 21. The images captured by camera 8 may be either video or still images. The images captured by camera 8 are output to the control device 10.

[0023] Terminal 9 is a computer such as a PC, server, or tablet. Terminal 9 is connected to the control device 10 via a network NW. Measurement values ​​measured by sensors 6-7 and images taken by camera 8 are transmitted to Terminal 9 from the control device 10. Terminal 9 acquires the information transmitted from the control device 10 and displays it on its display. For example, the operator monitors the decommissioning work of reactor 1 and operates the cutting robot R1, the boxing robot R2, and the box moving robot R3 while checking various information output on the display of Terminal 9.

[0024] Figure 2 shows an example of the configuration of the control device 10. The control device 10 comprises a data acquisition unit 11, an input reception unit 12, a planning unit 13, a simulation unit 14, a control unit 15, a storage unit 16, and a communication unit 17.

[0025] The data acquisition unit 11 acquires the measured values ​​from sensors 6 and 7, images captured by camera 8, and instruction signals sent from terminal 9 to robots R1 and R3.

[0026] The input receiving unit 12 receives information and instructions entered using input devices such as keyboards, mice, touch panels, and buttons. For example, the input receiving unit 12 receives input instructing the creation of a plan for the decommissioning work of reactor 1.

[0027] Planning Department 13 creates a plan for the dismantling of reactor 1. The dismantling work is divided into cutting work and packing work. Cutting work is the work of cutting the reactor vessel 2 and internal structures 3 using a cutting robot R1. The cutting work plan is information that defines the type of structure to be cut (part of reactor 1), the size to be cut, how to cut, when to cut (in what order to cut), and what conditions the cut pieces 4 must meet. Packing work is the work of storing the cut pieces 4 in containers 5 using a box-packing robot R2, and the work of placing containers 5 in water using a box-moving robot R3. The packing work plan is information that defines which cut pieces 4 to store in which container 5, in what order to store them, at what position within container 5 to store them, and when to place container 5 in water.

[0028] Planning Department 13 creates plans for cutting and packaging operations using knowledge or simulation. Knowledge refers to accumulated knowledge from actual experience (precedents) when dismantling a nuclear reactor and information obtained when simulating the dismantling of a nuclear reactor. For example, it consists of a knowledge database, trained models built using machine learning or deep learning, and AI (Artificial Intelligence).

[0029] If cutting and packing operations are performed separately and without any connection, rework is likely to occur, such as inefficient storage in container 5. Therefore, in this embodiment, rational work plans (for example, a plan to minimize the number of containers 5, a plan to minimize working time, or a plan that achieves both) calculated from past dismantling work data and simulations linking cutting and packing operations are accumulated as knowledge, and cutting and packing plans are created based on this knowledge. In the case of reactor 1 of a type for which knowledge has not been accumulated, simulations are performed before carrying out the cutting and packing operations to create those work plans.

[0030] Figure 3 shows an example of a knowledge database. The cutting work DB (database) 31 in Figure 3(a) stores information showing how internal structures 3, etc., were cut when reactor 1 of other plants were dismantled in the past. The cutting work DB 31 has items such as "cutting object ID", "reactor information", "structure information", "cutting method", "process", "temperature", "size", "weight", "radiation dose", "radioactivity level", "image", and "date and time". "Cutting object ID" stores identification information of the cutting object 4. "Reactor information" stores information about the dismantled reactor, such as the plant name, plant location, and model, which represents the characteristics of the reactor. In the future, when dismantling another reactor 1, it is possible to extract cutting performance data for similar reactors by referring to the information in this item. "Structural information" stores information indicating which part is being cut. For example, "Structural information" stores part information that identifies the structure to be cut, such as the reactor containment vessel inner plate, channel box, filter, upper core structure consisting of the upper core plate and upper core support plate. The "Cutting Method" field stores information indicating how to cut the parts identified in the structural information. For example, in the case of the upper core structure, information indicating the cutting position (the starting position for cutting) and the direction of cutting is stored so that the entire upper core structure can be cut into multiple cut pieces 4 vertically, without disassembling it into the upper core plate, upper core support plate, etc. (Each of the multiple cut pieces 4 is assigned a cut piece ID, and information for each cut piece 4 is registered in the cutting work DB 31.) The "Process" field stores information specifying the process and order in which the cutting work will be performed. For example, if the cutting is to be done in the order of structure 1, structure 2, upper core structure, structure 3, ..., information indicating that the upper core structure will be cut third or after structure 2 is stored. The "Temperature" field stores the measured or estimated temperature of the cut piece 4. The "Size" field stores the measured or estimated dimensions of the cut piece 4. The "Weight" field stores the measured or estimated weight of the cut piece 4. The "Radiation Dose" field stores the measured or estimated radiation dose of the cut object 4. The "Radioactivity Level" field stores one of three radioactivity levels (1-3) depending on the radiation dose value. The "Image" field stores an image of the cut object 4.The "Date and Time" field stores the date and time when the cutting operation for item 4 was performed.

[0031] The Packing Work DB32 in Figure 3(b) stores information indicating how the cut pieces 4 were stored in container 5 when reactor 1 of other plants was dismantled in the past. The Packing Work DB32 has items such as "Container ID", "Cut Piece ID", "Process", "Packing Method", "Temperature", "Weight", "Radiation Dose", "Level", "Image", and "Date and Time". "Container ID" stores the identification information of container 5. "Cut Piece ID" stores the identification information of the cut pieces 4 to be stored in container 5 corresponding to the container ID. For example, when storing cut pieces 4 with cut piece IDs 001 to 006, 001, 002, 003, 004, 005, and 006 are stored. "Process" stores when container 5 will be placed inside the reactor cavity 21. For example, information such as "Place after removing container ID=XXX" or "Place when cutting the upper core structure" is stored. "Packing Method" stores the method of storing the cut pieces 4 in container 5. For example, if cut pieces 4 with cut piece IDs 001 to 006 are to be stored in this order, information specifying that order is stored. Also, if there are constraints or tricks to the storage position of cut piece 4, information specifying the storage position is stored. For example, information such as "Cut piece 4 with cut piece ID 001 is stored at the bottom" may be stored. "Temperature" stores the measured or estimated temperature of container 5. "Weight" stores the measured or estimated weight of container 5. "Radiation dose" stores the measured or estimated radiation dose of container 5. "Radioactivity level" stores one of the radioactivity levels 1 to 3 corresponding to container 5. "Image" stores the image taken when cut piece 4 was stored. For example, if the cut pieces 4 with cut piece IDs 001 to 006 are stored in this order, the images stored will be: an image of cut piece 4 with cut piece ID 001 stored, an image of cut piece 4 with cut piece IDs 001 to 002 stored, ..., and an image of cut piece 4 with cut piece IDs 001 to 006 stored. The "Date and Time" field stores the time when the container 5 was placed inside the reactor cavity 21 and the time when it was removed from the reactor cavity 21.

[0032] The planning unit 13 refers to the knowledge database illustrated in Figure 3 and extracts data on reactors 1 similar to the reactor 1 targeted for dismantling from among reactors 1 that have been dismantled in the past, and creates a cutting plan and a packaging plan. For example, if data on reactors 1 similar to the target reactor 1 is found, the planning unit 13 creates a cutting plan to cut the reactor 1 to be dismantled using the same process and cutting method as indicated by that data. The planning unit 13 also creates a packaging plan to arrange the containers 5 and store the cut pieces 4 using the same process and packaging method as indicated by similar past performance data.

[0033] As an example of knowledge, a knowledge database is shown in Figure 3. However, the knowledge may also consist of a trained model for cutting operations and other AI configured to output the cutting method and process when input such as the names of parts of the in-reactor structure 3 and images of the reactor 1 taken during dismantling work, or a trained model for packaging operations and other AI configured to output the packaging method and process when input such as the size of the cut piece 4 and which part the cut piece 4 was cut from.

[0034] If no similar data is registered in the knowledge database, the planning unit 13 uses the simulation unit 14 to simulate the cutting and packaging operations and search for a cutting method and a packaging method that meet the conditions. Then, the planning unit 13 creates a cutting plan and a packaging plan that meet the conditions.

[0035] The simulation unit 14 simulates the dismantling of reactor 1 using a 3D model, such as 3D CAD data representing the shape of reactor 1 to be dismantled, and a 3D model of the cutting robot R1. The 3D model of reactor 1 contains information not only about the shape and size of reactor 1, but also about the material, weight, temperature, heat generation, and radiation dose of each part.

[0036] The simulation unit 14 uses a 3D model of the reactor 1 to simulate the cutting of the reactor vessel 2 and the internal structures 3. The cutting location, size, and direction may be specified by the operator, or the simulation unit 14 may cut at any location and in any direction. Alternatively, the simulation unit 14 may refer to the knowledge database (cutting work DB 31) to refer to the "cutting method" and "process" for any reactor 1 (not similar to the one to be dismantled), obtain information indicating which parts to cut and how, in order from the earliest process, and cut the 3D model of the reactor 1 accordingly. The simulation unit 14 determines whether the 3D model of the cut pieces 4 meets predetermined conditions. These predetermined conditions include, for example, whether the weight of the cut pieces 4 is below a predetermined value, whether the size is below a predetermined size, whether the temperature is below a predetermined temperature, and whether the radiation dose is below a predetermined value. The weight, temperature, and radiation dose can be estimated from the weight, temperature, and radiation dose linked to the 3D model of the reactor 1. For example, weight, radiation dose, and heat generation are calculated from the ratio of the total volume of the part to the volume of the cut piece 4, and the weight, radiation dose, and heat generation associated with the part. Temperature is calculated from the specific heat of the cut piece 4, its weight, and heat generation. Size is obtained by calculating the dimensions of the 3D model of the cut piece 4. If the cut piece 4 satisfies these conditions, the simulation unit 14 records the part to be cut, the cutting method (cutting position, cutting direction, etc.), and the process in the storage unit 16. If the conditions are not met, the 3D model of the reactor 1 is returned to its state before cutting, the cutting position is adjusted, and the cutting is simulated again. For example, if the size is larger than the conditions, the temperature is higher, the weight is heavier, or the radiation dose is higher, the cutting position and other settings are adjusted so that the cut piece 4 becomes smaller.

[0037] The simulation unit 14 repeats this process from the state of the reactor 1 before dismantling until the dismantling of the reactor 1 is completed, searching for a cutting method and process that will satisfy the above conditions for each of the cut pieces 4. Alternatively, as will be described later (Figures 4 to 6), when the reactor 1 is actually being dismantled, the simulation may calculate a cutting method that will satisfy the predetermined conditions for the next piece 4 to be cut, control the cutting robot R1 based on the calculated cutting method, and repeatedly perform the cutting.

[0038] Before actually dismantling reactor 1, if the series of cutting methods and processes (and the packing methods and processes for the series of packing operations described later) until the dismantling of reactor 1 is completed are calculated by simulation, this information may be registered as knowledge in the cutting work DB31. This allows the planning unit 13 to create a cutting plan by referring to the information in the cutting work DB31, even if information on similar reactor 1 dismantling cases is not stored in the cutting work DB31.

[0039] Furthermore, the simulation unit 14 simulates the packing operation using a 3D model of the cut material 4, a 3D model of the reactor cavity 21, a 3D model of the container 5, a 3D model of the packing robot R2, and a 3D model of the box moving robot R3. Since there is not enough space in the reactor cavity 21 to store all the cut material 4 that would be generated if the reactor 1 were completely dismantled, the simulation of the packing operation is performed by setting the simulation to a state where the cutting operation has been completed up to a certain stage. The operator may specify the state at which the cutting operation has been completed before starting the simulation, and how to arrange the containers 5 with radioactivity levels 1 to 3, or the simulation unit 14 may set them arbitrarily. For example, the simulation unit 14 may arbitrarily set the stages of the cutting operation within a range where the number of cut pieces 4 placed in the reactor cavity 21 is less than or equal to a predetermined value, and start a simulation of storing the cut pieces 4 in the container 5 from a state where three-dimensional models of containers 5 corresponding to the radioactivity levels of the placed cut pieces 4 are placed one by one in the three-dimensional model of the reactor cavity 21. The simulation unit 14 simulates the operation of grasping any cut piece 4 placed in the reactor cavity 21 and storing it in a container 5 with a radioactivity level corresponding to that cut piece 4. Alternatively, the simulation unit 14 may refer to the knowledge database (packing operation DB 32) and refer to the "packing method" and "process" related to a reactor (not similar to the one being dismantled) that was referenced during the cutting operation simulation, obtain information indicating the packing method in order from the earliest process, and store the three-dimensional model of the cut piece 4 in the three-dimensional model of the container 5 accordingly.

[0040] The simulation unit 14 determines whether the container 5 containing the cut pieces 4 meets predetermined conditions. These predetermined conditions are whether the weight of the container 5 is within a predetermined range, whether the temperature is within a predetermined temperature range, and whether the radiation level is within a predetermined range. The simulation unit 14 calculates the weight, temperature, and radiation level of the container 5 after the cut pieces 4 are placed inside, and makes this determination. If these conditions are met, the simulation unit 14 records the packing method (storage order and position) of the cut pieces 4 in the storage unit 16 (packing method). If the conditions are not met, the simulation unit 14 simulates the process of removing the stored cut pieces 4 from the container 5 and storing other cut pieces 4 with the same radioactivity level in the container 5, and determines whether the conditions are met. For example, if the temperature is high, the weight is heavy, or the radiation level is high, a smaller cut piece 4 is selected and stored in the container 5. If the conditions are still not met (e.g., high temperature), the simulation unit 14 may run the cutting operation simulation again to calculate a cutting method that satisfies the conditions for the container 5 and correct the simulation results of the cutting operation.

[0041] Furthermore, the simulation unit 14 may determine that container 5 is full when its weight, temperature, and radiation level approach their upper limits. The degree of packaging management, subsequent processing, and disposal methods differ depending on the radioactivity level of container 5. For example, if the level is 1, densely packaging highly concentrated cut material 4 may exceed the management level, so the packaging rate must be kept low. Therefore, the upper limits for the weight, temperature, and radiation level of container 5 may be set according to the radioactivity level. The simulation unit 14 removes the 3D model of the full container 5 from the reactor cavity 21 and, if necessary, places the 3D model of another container 5 inside the reactor cavity 21. When the 3D model of an empty container 5 is placed in the water, the simulation unit 14 records the timing (for example, "place after removing container 5 with container ID=XXX", "place before cutting structure 1", etc.) in the storage unit 16 (process).

[0042] The simulation unit 14 repeats the above process until all the cut pieces 4 can be stored in the containers 5, searching for a packing method and process that will satisfy the above conditions for each of the containers 5. Alternatively, as described later (Figures 4 to 6), the process of storing each cut piece 4 in the containers 5 one by one during the actual decommissioning work of the reactor 1 may be simulated, and it may be checked whether the conditions are met. If the conditions are met, the packing robot R2 may be controlled to pack the items according to the simulation, and this process may be repeated.

[0043] Before actually dismantling reactor 1, if the entire packing method and process, from the start of cuttings 4 generated during the dismantling of reactor 1 until the storage of all such cuttings 4 is completed, is calculated through simulation, this information may be registered as knowledge in the packing work DB 32. This allows the planning unit 13 to create a packing plan by referring to the packing work DB 32, even if no similar dismantling cases are stored in the packing work DB 32. Furthermore, when simulating the entire dismantling process (from the start of cutting to the completion of packing) in advance, the simulation unit 14 may search for a cutting method and packing method that minimizes the total number of containers 5. For example, the simulation may be repeatedly run within a predetermined time limit, and the cutting method and packing method that minimizes the total number of containers 5 may be found as the solution. Reducing the number of containers 5 reduces the burden on subsequent processing, so a cutting method and packing method that minimizes the total number of containers 5 is a rational dismantling plan. In addition, the simulation unit 14 may search for a cutting method and a packaging method that minimizes the total working time from cutting to completion of packaging, or it may search for a cutting method and a packaging method that minimizes the total number of containers 5 while minimizing the working time as much as possible.

[0044] The control unit 15 controls the cutting robot R1, the boxing robot R2, and the box moving robot R3 to perform the dismantling work. The memory unit 16 stores the measured values ​​from sensors 6 and 7, images captured by camera 8, the knowledge database shown in Figure 3, and a 3D model of reactor 1. The communications unit 17 communicates with the terminal 9.

[0045] (operation) Next, the process of dismantling reactor 1 will be explained with reference to Figure 4. Figure 4 is a flowchart showing an example of the overall flow of the demolition work according to the embodiment. In the flowchart of Figure 4, steps S2 to S7 represent the cutting operation, and steps S9 to S15 represent the packaging operation. First, the overall plan is considered (Step S1). In considering the overall plan, it is considered how many workers and robots R1-R3 can be deployed, when the dismantling work will be carried out, how much time can be allocated, whether similar cases are registered in the knowledge database, and how many containers 5 in total will be needed. Whether or not similar cases are registered in the knowledge database, and if so, information on the reactor and plant of the similar case, is registered in the control device 10. Once the resources considered in the overall plan are prepared and the start time for the dismantling work arrives, the cutting work is carried out first.

[0046] The planning unit 13 creates a plan for the cutting work. The planning unit 13 determines whether there is a precedent for dismantling a reactor similar to the reactor 1 to be dismantled (step S2). If the overall plan review determines that no similar cases are registered in the knowledge database, the planning unit 13 determines that there is no precedent; otherwise, it determines that there is a precedent.

[0047] If it is determined that there is a precedent (Step S2; No), the planning unit 13 refers to the knowledge database (cutting work DB 31) and obtains information on the cutting method of the first step in a similar case, or the cutting method of the first step and a predetermined number of subsequent steps. The planning unit 13 uses the obtained information as a cutting plan and determines the cutting location, etc. (such as the cutting position and direction of the cutting in the part to be cut) (Step S4). The planning unit 13 transmits the cutting location, etc. information to the terminal 9 using the communication unit 17.

[0048] If it is determined that there is no precedent (Step S2; Yes), the planning unit 13 instructs the simulation unit 14 to simulate the cutting operation. The simulation unit 14 determines the cutting location and other details through the simulation (Step S3) and outputs that information to the planning unit 13.

[0049] Figure 5 shows an example of the simulation process for cutting. The simulation unit 14 determines the part and size to be cut (step S21). For example, the operator may specify the part and size to be cut, or the simulation unit 14 may arbitrarily determine the part and size to be cut from among the parts that can be worked on (for example, the outside of a structure, or a part that the arm of the cutting robot R1 can reach). Next, the simulation unit 14 selects the cutting location (step S22). From the part determined in step S21, the simulation unit 14 selects the cutting location, etc. (cutting position, cutting direction, etc.) so that a cut piece 4 of the determined size can be cut out (step S22). The simulation unit 14 determines whether cutting is possible (step S23). The simulation unit 14 uses a 3D model of the reactor 1 to perform a simulation of cutting the cutting location selected in step S22 and determines whether cutting is possible. For example, even if it appears that cutting is possible, the cutting robot R1 may interfere with the surrounding structure of the cutting location, making cutting impossible. The simulation unit 14 verifies through simulation whether physical cutting is possible and whether the cut material 4 generated when cutting at the cutting location selected in step S22 meets predetermined conditions (weight, size, temperature, radiation dose). If physical cutting is possible and the cut material 4 meets the conditions, the simulation unit 14 determines that cutting is possible; otherwise, it determines that cutting is impossible. Note that it is not necessary to use all of the predetermined conditions (weight, size, temperature, and radiation dose). For example, it may be sufficient to only verify that the size of the cut material 4 meets the predetermined conditions. If it is determined that cutting is impossible (step S23; No), the process from step S21 is repeated. If it is determined that cutting is possible (step S23; Yes), the cutting location selected in step S22 is output to the planning unit 13, and the process in Figure 5 is terminated. The planning unit 13 acquires the information on the cutting location output by the simulation unit 14 and transmits it to the terminal 9 using the communication unit 17.

[0050] The operator operates the cutting robot R1 by referring to information such as the cutting location displayed on the display screen of terminal 9. The control device 10 controls the cutting robot R1 based on instructions from terminal 9 to perform the cutting operation (step S5). The cutting robot R1 measures the temperature, radiation dose, weight, and size of the cut object 4 generated by the cutting operation and transmits these measured values ​​to the control device 10. The cutting robot R1 also takes a photograph of the cut object 4 and transmits the captured image to the control device 10. In the control device 10, the data acquisition unit 11 acquires this data and records it in the storage unit 16. The control unit 15 also determines whether the temperature, radiation dose, weight, and size of the cut object 4 meet predetermined conditions (step S6). For this determination, it is not necessarily required to check all of the temperature, radiation dose, weight, and size; it is acceptable to check only one or two to three parameters.

[0051] If the predetermined conditions are not met (Step S6; No), the cutting location of the cut object 4 is corrected (Step S6a), and the cutting is performed again (Step S5). The cutting location of the cut object 4 may be instructed by the operator, or the simulation unit 14 may determine the cutting location in the same manner as in Step S3. As a result, if the size of the cut object 4 is too large, or if the temperature or radiation level is too high, it will be divided into smaller pieces of cut object 4. Even if the cutting location is corrected, the final size of the cut object 4, etc., is measured and recorded in the storage unit 16. If the predetermined conditions are met (Step S6; Yes), the control unit 15 performs tagging, etc. (Step S7). The control unit 15 assigns an ID to the cut object 4 and records the ID, information such as temperature, radiation level, size, weight, cutting location, process, information on the part of the cut object 4 that was cut out, and an image in the storage unit 16.

[0052] Next, it is determined whether to start the packaging operation (step S8). For example, if the packaging operation is to be performed each time a piece of cut material 4 is cut, it is determined to start the packaging operation. If the packaging operation is to be performed after a predetermined number of cutting operations have been performed, or when a predetermined number of pieces of cut material 4 have been placed in the reactor cavity 21, it is determined not to start the packaging operation until those conditions are met. This determination may be made by the operator or by the control device 10. If it is determined not to start the packaging operation (step S8; No), the process from step S2 is repeated.

[0053] If it is determined that the packing work should be started (Step S8; Yes), the planning unit 13 creates a plan for the packing work. The planning unit 13 determines, in the same manner as in Step S2, whether there is any precedent for dismantling a reactor similar to the reactor to be dismantled 1 (Step S9).

[0054] If it is determined that there is a precedent (Step S9; No), the planning unit 13 refers to the knowledge database (packing work DB 32) to obtain information on the packing method for the first step of a similar case, or the packing method for the first step and a predetermined number of subsequent steps. The planning unit 13 uses the obtained information as a packing plan and determines the packing method, etc. (Step S11). The planning unit 13 determines the type and number of containers 5 to be placed in the reactor cavity 21, the cut pieces 4 to be stored, and the packing method, etc. The planning unit 13 transmits the packing method, etc. information to the terminal 9 using the communication unit 17.

[0055] If it is determined that there is no precedent (Step S9; Yes), the planning unit 13 instructs the simulation unit 14 to simulate the packing work. The simulation unit 14 determines the packing method, etc., through the simulation (Step S10) and outputs that information to the planning unit 13.

[0056] Figure 6 shows an example of the simulation process for the packing operation. The simulation unit 14 considers the packing method, etc. (step S31). For example, the operator may specify the cut pieces 4 to be stored and the packing method (for example, in what order and where to store them in the container), or the simulation unit 14 may tentatively decide to store any cut pieces 4 at any position in a container 5 with a corresponding radioactivity level. Once the cut pieces 4 are tentatively decided, the simulation unit 14 checks whether a container 5 for storing the cut pieces 4 is located in the reactor cavity 21, and if not, it tentatively decides to place it. Next, the simulation unit 14 determines whether the radiation dose of the container 5 is within the specified limits (step S32). The simulation unit 14 calculates the radiation dose of the container 5 when the cut pieces 4 considered in step S31 are stored in the container 5, and determines whether this value is within the specified limits. If it is not within the specified limits (step S32; No), the process returns to step S31. If it is within the specified limits (step S32; Yes), the simulation unit 14 determines whether the temperature of the container 5 is within the specified limits (step S33). The simulation unit 14 calculates the temperature of container 5 when the cut pieces 4 considered in step S31 are stored in container 5, and determines whether this value is within the specified range. If it is not within the specified range (step S33; No), the process returns to step S31. If it is within the specified range (step S33; Yes), the simulation unit 14 determines whether the weight of container 5 is within the specified range (step S34). The simulation unit 14 calculates the weight of container 5 when the cut pieces 4 considered in step S31 are stored in container 5, and determines whether this value is within the specified range. If it is not within the specified range (step S34; No), the process returns to step S31. If there are no cut pieces 4 that satisfy the conditions of steps S32 to S34 (if none of the placed cut pieces 4 satisfy the conditions of steps S32 to S34), those cut pieces 4 may be stored on the next occasion (when another container 5 is placed), or they may be cut again to satisfy the conditions. If they are cut again, steps S6a and S5 are executed, and the process returns to step S31. If the weight is within the specified limits (Step S34; Yes), it is decided to store the cut pieces 4 examined in Step S31 using the packing method examined in Step S31 (Step S35).The planning unit 13 obtains information such as the packaging method (whether or not containers 5 need to be placed, the target cut pieces 4, and the packaging method) from the simulation unit 14 and transmits it to the terminal 9 using the communication unit 17.

[0057] The operator operates the boxing robot R2, etc., by referring to information such as the packing method displayed on the display screen of terminal 9. The control device 10 controls the boxing robot R2, etc., based on instructions from terminal 9 to perform the packing work (step S12). If the required container 5 is not placed in the water, the box moving robot R3 is operated to place the container 5 in the reactor cavity 21. The boxing robot R2 places the cut pieces 4 into containers 5 with the corresponding radioactivity levels according to the packing method etc. determined in step S10 or S11. The boxing robot R2 measures the temperature, radiation dose, and weight of the container 5 and transmits these measurements to the control device 10. The boxing robot R2 also photographs the container 5 and transmits the captured image to the control device 10. The control device 10 has a data acquisition unit 11 that acquires this data and records it in a storage unit 16. The control unit 15 also determines whether the temperature, radiation dose, and weight of the container 5 meet predetermined conditions (step S13). The control unit 15 determines that the predetermined conditions are met if the temperature, radiation dose, and weight of the container 5 are within the respective specified values, and determines that the predetermined conditions are not met if even one of them exceeds the specified value.

[0058] If the predetermined conditions are not met (Step S13; No), the stored cut material 4 is removed and the process returns to Step S10. Then, the packaging target is re-examined, re-cut if necessary, and the packaging process is performed again. This ensures that the radiation level of the container 5 is kept within the specified limits, preventing interference with subsequent processing. If the predetermined conditions are met (Step S13; Yes), the control unit 15 determines whether packaging is complete for each container 5 (Step S14). The control unit 15 determines that if the weight, radiation level, or temperature of the container 5 meets the specified value and falls within a specified range from the specified value, the container 5 is full, i.e., packaging is complete. If there is still a difference from the specified value, the control unit 15 determines that packaging is not complete for that container 5. If packaging is complete (Step S14; Yes), the removal process is performed (Step S15). The operator operates the box moving robot R3 to remove the packed container 5 from the reactor cavity 21. The removed container 5 is transported to the processing facility. The operator, if necessary, uses the box-moving robot R3 to place a container 5 with the same radioactivity level as the removed container 5 into the reactor cavity 21.

[0059] If packing is not complete (Step S14; No), determine whether there are any remaining cut pieces 4 to be packed in the reactor cavity 21 (Step S16). If there are still cut pieces 4 to be packed (Step S16; No), return to Step S9 and continue packing the remaining cut pieces 4. If there are no remaining cut pieces 4 to be packed (Step S16; Yes), determine whether all dismantling work has been completed (Step S17). If the dismantling work has not been completed (Step S17; No), return to Step S2 and perform the cutting work. If the dismantling work is completed (Step S17; Yes), register the cutting work results and packing work results in the knowledge (Step S18). For example, the control device 10 (control unit 15) registers the cutting work results (process, cutting method, temperature, etc.) recorded in the storage unit 16 into the cutting work DB 31, and registers the packing work results (process, packing method, temperature, etc.) recorded in the storage unit 16 into the packing work DB 32. This allows for the accumulation of knowledge.

[0060] (effect) As explained above, according to this embodiment, a dismantling work plan for reactor 1 can be created based on knowledge registered from past dismantling results and simulation results. Since cutting and packing plans can be created based on past dismantling results, a consistent plan that looks ahead from cutting to packing can be created, preventing rework and other issues. Furthermore, when dismantling a reactor for which no knowledge exists, the cutting and packing plans can be implemented while verifying through simulation (while creating short-term cutting and packing plans) how to cut the in-reactor structures and how to pack the cut pieces into container 5. This allows the dismantling work to proceed with accuracy. Once the dismantling work of reactor 1 is completed, the results can be accumulated as knowledge and used for the dismantling work of other reactors in the future. While executing cutting and packing work based on the plan created using knowledge and simulations, measurements of size, radiation levels, etc. are taken during the work, and the results of the cutting and packing work, which are corrected as appropriate, are accumulated as knowledge, thereby improving the accuracy of the knowledge.

[0061] Figure 7 shows an example of the hardware configuration of the control device. The computer 900 includes a CPU 901, main memory 902, auxiliary memory 903, input / output interface 904, and communication interface 905. The control device 10 described above is implemented in the computer 900. The functions described above are stored in auxiliary storage device 903 in the form of a program. The CPU 901 reads the program from auxiliary storage device 903, loads it into main memory 902, and executes the above processing according to the program. The CPU 901 also allocates storage space in main memory 902 according to the program. The CPU 901 also allocates storage space in auxiliary storage device 903 to store the data being processed according to the program.

[0062] Furthermore, a program to implement all or part of the functions of the control device 10 may be recorded on a computer-readable recording medium, and the program recorded on this recording medium may be loaded into a computer system and executed to perform processing by each functional unit. Here, "computer system" includes hardware such as the OS and peripheral devices. Also, if a WWW system is used, "computer system" also includes the homepage provisioning environment (or display environment). Furthermore, "computer-readable recording medium" refers to portable media such as CDs, DVDs, USBs, and storage devices such as hard disks built into the computer system. In addition, if this program is distributed to computer 900 via a communication line, computer 900 that receives the distribution may load the program into main memory 902 and execute the above processing. Furthermore, the above program may be for implementing some of the functions described above, and may also be for implementing the above functions in combination with programs already recorded in the computer system.

[0063] As described above, several embodiments relating to this disclosure have been explained, but all of these embodiments are presented as examples and are not intended to limit the scope of the invention. These embodiments can be carried out in various other forms, and various omissions, substitutions, and modifications can be made without departing from the spirit of the invention. These embodiments and their variations are included in the scope and spirit of the invention, as well as in the claims and their equivalents.

[0064] <Note> The planning device, demolition system, planning method, and program described in the embodiment can be understood, for example, as follows:

[0065] (1) The planning apparatus method according to the first embodiment includes: knowledge information in which a method for cutting a structure inside a reactor, the radioactivity level of the cut pieces obtained by cutting the structure, and a method for packing the cut pieces into a container for storing the cut pieces; a cutting planning unit that creates a cutting plan that defines the cutting method for the structure inside the reactor to be dismantled based on the knowledge information; and a packing planning unit that creates a packing plan that defines the packing method for the cut pieces of the structure inside the reactor to be dismantled into a container according to the radioactivity level of the cut pieces, based on the knowledge information. This allows for planning the decommissioning of the nuclear reactor.

[0066] (2) The planning device according to the second embodiment is the planning device of (1), wherein the knowledge information includes the cutting method performed when a reactor was dismantled in the past, the measured value of the radioactivity level of the cut material measured when the reactor was dismantled, and the packaging method performed when the reactor was dismantled. This allows for the creation of cutting and packaging plans based on past demolition experience.

[0067] (3) The planning device relating to the third embodiment is the planning device of (1) to (2), wherein the knowledge information includes the cutting method calculated by simulating the dismantling of the reactor, the radioactivity level of the cut material calculated by the simulation, and the packaging method calculated by the simulation. This allows for the creation of cutting and packaging plans based on simulation results.

[0068] (4) The planning device according to the fourth embodiment is the planning device according to (1) to (3), wherein the cutting method includes information that identifies the object to be cut and information that indicates the cutting position and cutting direction of the object to be cut, and the packaging method includes information that indicates which of the cut items to be stored in the container and in what order. This allows cutting and packaging operations to be performed.

[0069] (5) The planning apparatus according to the fifth embodiment is the planning apparatus according to (1) to (4), further comprising a simulation unit which simulates the operation of cutting a structure inside the reactor according to the three-dimensional model of the reactor using the cutting method such that the size of the cut pieces satisfies predetermined conditions, and storing the cut pieces in a container using the packing method such that at least one of the weight, temperature, and radioactivity level of the container satisfies predetermined conditions, wherein the cutting planning unit creates the cutting plan based on the cutting method that satisfies the predetermined conditions calculated by the simulation unit, and the packing planning unit creates the packing plan based on the packing method that satisfies the predetermined conditions calculated by the simulation unit. This allows cutting and packaging plans to be created even when no prior knowledge exists.

[0070] (6) The planning apparatus according to the sixth embodiment is the planning apparatus according to (5), wherein the simulation unit repeatedly executes the simulation within a predetermined time or repeatedly executes it a predetermined number of times to calculate the cutting method and the packaging method when the number of containers is minimized. This allows for the creation of rational cutting and packaging plans.

[0071] (7) The seventh dismantling system is a dismantling system for dismantling a structure inside a nuclear reactor, comprising: a planning device described in any of (1) to (6); a cutting means for cutting the structure based on the cutting plan created by the planning device; and a packing means for storing the cut pieces in a container based on the packing plan created by the planning device.

[0072] (8) The planning method relating to the eighth aspect is a planning method performed by a computer, comprising the steps of creating a cutting plan that defines the cutting method of a structure in a reactor to be dismantled, based on registered knowledge information, the cutting method of a structure in a reactor to be dismantled, the radioactivity level of the cut pieces obtained by cutting the structure, and the packing method of the cut pieces into a container to be stored, and creating a packing plan that defines the packing method of the cut pieces of the structure in a reactor to be dismantled into a container according to the radioactivity level of the cut pieces, based on the knowledge information.

[0073] (9) The program according to the ninth aspect causes the computer to perform the following steps: create a cutting plan that defines the cutting method for the structure inside the reactor to be dismantled, based on knowledge information which includes a method for cutting the structure inside the reactor, the radioactivity level of the cut pieces obtained by cutting the structure, and a method for packing the cut pieces into a container to store the cut pieces; and create a packing plan that defines the packing method for the cut pieces of the structure inside the reactor to be dismantled into a container according to the radioactivity level of the cut pieces, based on the knowledge information. [Explanation of Symbols]

[0074] 1...nuclear reactor 2...Reactor vessel 3...Furnace internal structure 4...cut object 5...container 6, 7... Sensors 8. Camera 9. Terminal 10. Control device 11. Data Acquisition Unit 12. Input reception section 13. Planning Department 14. Simulation Department 15. Control Unit 16...Storage section 17. Communications Department 20. Pool inside the reactor building 21... Reactor cavity 31... Cutting work DB 32. Packing work database 100... Demolition System R1... Cutting robot R2... Packing robot R3... Box-moving robot 900... Computer 901···CPU 902...Main memory 903...Auxiliary storage device 904... Input / Output Interface 905...Communication Interface

Claims

1. The registered knowledge information includes a method for cutting structures inside a nuclear reactor, the radioactivity level of the cut material obtained by cutting the structure, and a method for packaging the cut material into a container. A cutting planning unit creates a cutting plan that defines the cutting method for the structures inside the reactor to be dismantled, based on the aforementioned knowledge information. A packing planning unit, based on the aforementioned knowledge information, creates a packing plan that specifies the method of packing the cut pieces of the reactor structure to be dismantled into containers according to the radioactivity level of the cut pieces, A control unit that executes the cutting plan by controlling a cutting means for cutting the structure, and executes the packaging plan by controlling a packaging means for storing and removing the cut pieces from the container, A simulation unit has the function of calculating a packaging plan such that at least one of the weight, temperature, and radioactivity level of the container satisfies predetermined packaging conditions by performing a packaging simulation that simulates the process of placing the cut pieces into the container. It has, If, as a result of the control unit executing the packaging plan created by the packaging planning unit, the container does not meet the predetermined packaging conditions, the control unit controls the packaging means to remove the cut pieces stored in the container. The simulation unit calculates a packaging plan that satisfies the packaging conditions by performing the packaging simulation on the extracted cut pieces. The control unit, by executing the packaging plan calculated by the packaging simulation, stores the cut pieces in the container. Planning device.

2. The simulation unit further has a function of calculating a cutting plan such that at least one of the temperature, radioactivity level, weight, and size of the cut object satisfies predetermined cutting conditions, by performing a cutting simulation that simulates the operation of cutting a structure inside the reactor related to the three-dimensional model of the reactor using the three-dimensional model of the reactor. If the simulation unit fails to calculate a packaging plan that satisfies the predetermined packaging conditions through the execution of the packaging simulation, it performs the cutting simulation on the removed cut pieces to calculate a cutting plan that satisfies the predetermined cutting conditions. The control unit controls the cutting means based on the cutting plan calculated by the cutting simulation, thereby cutting the extracted cut piece. The simulation unit calculates the packaging plan by performing the packaging simulation, which involves storing the cut pieces generated by cutting the removed cut pieces into the container. The planning apparatus according to claim 1.

3. The aforementioned knowledge information includes the cutting method used when a reactor was dismantled in the past, the measured radioactivity levels of the cut material measured when the reactor was dismantled, and the packaging method used when the reactor was dismantled. A planning device according to claim 1 or claim 2.

4. The aforementioned knowledge information includes the cutting method calculated by simulating the dismantling of a nuclear reactor, the radioactivity level of the cut material calculated by the simulation, and the packaging method calculated by the simulation. A planning device according to claim 1 or claim 2.

5. The cutting method includes information that identifies the object to be cut, and information that indicates the cutting position and cutting direction of the object to be cut. The packaging method includes information indicating which cut pieces to store in the container and in what order. A planning device according to claim 1 or claim 2.

6. The simulation unit repeatedly performs the cutting simulation and the packaging simulation within a predetermined time, or repeatedly performs them a predetermined number of times, to calculate the cutting method and packaging method that result in the minimum number of containers. The planning apparatus according to claim 2.

7. The cutting planning unit refers to the knowledge information to determine whether a cutting plan for a reactor similar to the reactor to be dismantled is registered, and if it determines that it is registered, it creates the cutting plan based on the knowledge information, and if it determines that it is not registered, it instructs the simulation unit to perform the cutting simulation. The simulation unit calculates the cutting plan by performing the cutting simulation, The packaging planning unit refers to the knowledge information to determine whether a packaging plan for a reactor similar to the one to be dismantled is registered. If it determines that a packaging plan is registered, it creates the packaging plan based on the knowledge information. If it determines that a packaging plan is not registered, it instructs the simulation unit to perform the packaging simulation. The simulation unit calculates the packaging plan by executing the packaging simulation. When the execution of the cutting plan and the packaging plan is completed, the control unit registers the executed cutting plan and the packaging plan in the knowledge information. The planning apparatus according to claim 2.

8. The registered knowledge information includes a method for cutting structures inside a nuclear reactor, the radioactivity level of the cut material obtained by cutting the structure, and a method for packaging the cut material into a container. A cutting planning unit creates a cutting plan that defines the cutting method for the structures inside the reactor to be dismantled, based on the aforementioned knowledge information. A packing planning unit, based on the aforementioned knowledge information, creates a packing plan that specifies the method of packing the cut pieces of the reactor structure to be dismantled into containers according to the radioactivity level of the cut pieces, A simulation unit having the following functions: a function to calculate a cutting plan such that at least one of the temperature, radioactivity level, weight, and size of the cut object satisfies predetermined cutting conditions by performing a cutting simulation that simulates the operation of cutting a structure inside the reactor related to the three-dimensional model of the reactor; and a function to calculate a packing plan such that at least one of the weight, temperature, and radioactivity level of the container satisfies predetermined packing conditions by performing a packing simulation that simulates the operation of storing the cut object in the container. A control unit that executes the cutting plan by controlling the cutting means and the packaging plan by controlling the packaging means, It has, The cutting planning unit refers to the knowledge information to determine whether the cutting method for a reactor similar to the reactor to be dismantled is registered, and if it determines that it is registered, it creates the cutting plan based on the knowledge information, and if it determines that it is not registered, it instructs the simulation unit to perform the cutting simulation. The simulation unit calculates the cutting plan by performing the cutting simulation, The packaging planning unit refers to the knowledge information to determine whether the packaging method for a reactor similar to the one to be dismantled is registered. If it determines that it is registered, it creates the packaging plan based on the knowledge information. If it determines that it is not registered, it instructs the simulation unit to perform the packaging simulation. The simulation unit calculates the packaging plan by executing the packaging simulation. When the execution of the cutting plan and the packaging plan is completed, the control unit registers the executed cutting plan and the packaging plan in the knowledge information. Planning device.

9. A dismantling system for dismantling structures inside a nuclear reactor, A planning device according to claim 1 or claim 2, A cutting means for cutting the structure based on the cutting plan created by the planning device, A packaging means for storing the cut pieces in a container based on the packaging plan created by the planning device, Measuring means for measuring the temperature, radioactivity level, weight, and size of the cut object, A measuring means for measuring the weight, temperature, and radioactivity level of the container, A demolition system having

10. A planning method performed by a computer, A cutting plan is created that defines the cutting method for a structure inside a reactor to be dismantled, based on registered knowledge information, which includes a method for cutting a structure inside a reactor, the radioactivity level of the cut material obtained by cutting the structure, and a method for packing the cut material into a container. Based on the aforementioned knowledge information, a packing plan is created that specifies the method of packing the cut pieces of the reactor structure to be dismantled into containers according to the radioactivity level of the cut pieces. The steps include: executing the cutting plan by controlling a cutting means for cutting the structure, and executing the packaging plan by controlling a packaging means for storing or removing the cut pieces from the container; If, as a result of executing the packing plan, the container does not meet the predetermined packing conditions in at least one of the weight, temperature, and radioactivity level, the packing means is controlled to remove the cut material stored in the container. The steps include: calculating a packing plan that satisfies the packing conditions by performing a packing simulation that simulates the process of storing the removed cut pieces in the container; The steps include: placing the cut pieces into the container by executing the packaging plan calculated by the packaging simulation; A method for planning the closing of a drawer.

11. A planning method performed by a computer, The steps include: referring to registered knowledge information that includes a method for cutting structures inside a reactor, the radioactivity level of the cut pieces obtained by cutting the structures, and a method for packing the cut pieces into a container, determining whether the cutting method for a reactor similar to the one to be dismantled is registered; and if it is determined that it is registered, creating a cutting plan that specifies the cutting method for the structures inside the reactor to be dismantled based on the knowledge information; If it is determined that it is not registered, the step of calculating a cutting plan such that at least one of the temperature, radioactivity level, weight, and size of the cut object satisfies predetermined cutting conditions by performing a cutting simulation that simulates the operation of cutting a structure inside the reactor related to the three-dimensional model of the reactor, using the three-dimensional model of the reactor. The steps include: executing the cutting plan by controlling the cutting means, The steps include: referring to the aforementioned knowledge information, determining whether the aforementioned packing method for a reactor similar to the reactor to be dismantled is registered; if it is determined that it is registered, creating a packing plan based on the aforementioned knowledge information that specifies the packing method for the cut pieces of the structure inside the reactor to be dismantled into the container according to the radioactivity level of the cut pieces; If it is determined that the product is not registered, the process includes a step of calculating a packing plan such that at least one of the weight, temperature, and radioactivity level of the container satisfies predetermined packing conditions by performing a packing simulation that simulates the process of storing the cut pieces created in the step of executing the cutting plan into the container, and The steps include: executing the packaging plan by controlling the packaging means, Once the execution of the cutting plan and the packaging plan is completed, the executed cutting plan and the packaging plan are registered in the knowledge information. A method for planning the closing of a drawer.

12. On the computer, A cutting plan is created that defines the cutting method for a structure inside a reactor to be dismantled, based on registered knowledge information, which includes a method for cutting a structure inside a reactor, the radioactivity level of the cut material obtained by cutting the structure, and a method for packing the cut material into a container. Based on the aforementioned knowledge information, a packing plan is created that specifies the method of packing the cut pieces of the reactor structure to be dismantled into containers according to the radioactivity level of the cut pieces. The steps include: executing the cutting plan by controlling a cutting means for cutting the structure, and executing the packaging plan by controlling a packaging means for storing or removing the cut pieces from the container; If, as a result of executing the packing plan, the container does not meet the predetermined packing conditions in at least one of the weight, temperature, and radioactivity level, the packing means is controlled to remove the cut material stored in the container. The steps include: calculating a packing plan that satisfies the packing conditions by performing a packing simulation that simulates the process of storing the removed cut pieces in the container; The steps include: placing the cut pieces into the container by executing the packaging plan calculated by the packaging simulation; A program that executes the command.

13. A computer, The steps include: referring to registered knowledge information that includes a method for cutting structures inside a reactor, the radioactivity level of the cut pieces obtained by cutting the structures, and a method for packing the cut pieces into a container, determining whether the cutting method for a reactor similar to the one to be dismantled is registered; and if it is determined that it is registered, creating a cutting plan that specifies the cutting method for the structures inside the reactor to be dismantled based on the knowledge information; If it is determined that it is not registered, the step of calculating a cutting plan such that at least one of the temperature, radioactivity level, weight, and size of the cut object satisfies predetermined cutting conditions by performing a cutting simulation that simulates the operation of cutting a structure inside the reactor related to the three-dimensional model of the reactor, using the three-dimensional model of the reactor. The steps include: executing the cutting plan by controlling the cutting means, The steps include: referring to the aforementioned knowledge information, determining whether the aforementioned packing method for a reactor similar to the reactor to be dismantled is registered; if it is determined that it is registered, creating a packing plan based on the aforementioned knowledge information that specifies the packing method for the cut pieces of the structure inside the reactor to be dismantled into the container according to the radioactivity level of the cut pieces; If it is determined that the product is not registered, the process includes a step of calculating a packing plan such that at least one of the weight, temperature, and radioactivity level of the container satisfies predetermined packing conditions by performing a packing simulation that simulates the process of storing the cut pieces created in the step of executing the cutting plan into the container, and The steps include: executing the packaging plan by controlling the packaging means, Once the execution of the cutting plan and the packaging plan is completed, the executed cutting plan and the packaging plan are registered in the knowledge information. A program that executes the command.

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